Paper Info
Title
Tree-structure-aware GP operators for automatic gait generation of quadruped robot
Abstract
In this paper, we suggest tree-structure-aware GP operators that heed tree distributions in structure space and their possible structural difficulties. The main idea of the proposed GP operators is to place the generated offspring of crossover and/or mutation in a specified region of tree structure space insofar as possible, taking into account the observation that most solutions are found in that region. To enable that, the proposed operators are designed to utilize information about the region to which the parents belong and node/depth statistics of the subtree selected for modification. The proposed approach is applied to automatic gait generation of quadruped robot to demonstrate the effectiveness of it. The results show that the results using the proposed tree-structure-aware operators are superior to the results of standard GP for gait problem in both fitness and velocity.
Year
DOI
Venue
2009
10.1145/1570256.1570293
GECCO (Companion)
Keywords
Field
DocType
proposed tree-structure-aware operator,proposed operator,tree-structure-aware gp operator,proposed gp operator,heed tree distribution,standard gp,quadruped robot,gait problem,automatic gait generation,specified region,genetic programming,tree structure
Crossover,Gait,Computer science,Tree (data structure),Algorithm,Genetic programming,Tree structure,Operator (computer programming),Artificial intelligence,Structure space,Robot,Machine learning
Conference
Citations 
PageRank 
References 
0
0.34
12
Authors
3
Name
Order
Citations
PageRank
Kisung Seo114118.95
Soohwan Hyun2244.18
Erik D. Goodman374288.21